#include "active_3d_planning_core/module/trajectory_evaluator/value_computer/trivial_gain.h"

#include <cmath>

namespace active_3d_planning {
    namespace value_computer {

        // TrivialGain
        ModuleFactoryRegistry::Registration<TrivialGain>
                TrivialGain::registration("TrivialGain");

        TrivialGain::TrivialGain(PlannerI &planner) : ValueComputer(planner) {};

        bool TrivialGain::computeValue(TrajectorySegment *traj_in) {
            traj_in->value = traj_in->gain;
            return true;
        }

        void TrivialGain::setupFromParamMap(Module::ParamMap *param_map) {}

    } // namespace value_computer
} // namespace active_3d_planning
